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Integral line-of-sight path following control of magnetic helical microswimmers subject to step-out frequencies
- Source :
- Automatica. 128:109554
- Publication Year :
- 2021
- Publisher :
- Elsevier BV, 2021.
-
Abstract
- This paper investigates the problem of straight-line path following for magnetic helical microswimmers. The control objective is to make the helical microswimmer to converge to a straight line without violating the step-out frequency constraint. The proposed feedback control solution is based on an optimal decision strategy (ODS) that is cast as a trust-region subproblem (TRS), i.e., a quadratic program over a sphere. The ODS-based control strategy minimizes the difference between the microrobot velocity and an integral line-of-sight (ILOS)-based reference vector field while respecting the magnetic saturation constraints and ensuring the absolute continuity of the control input. Due to the embedded integral action in the reference vector field, the microswimmer will follow the desired straight line by compensating for the drift effect of the environmental disturbances as well as the microswimmer weight.<br />Comment: Published in Automatica (March 2021)
- Subjects :
- FOS: Computer and information sciences
0209 industrial biotechnology
Field (physics)
Path following
Control (management)
Systems and Control (eess.SY)
02 engineering and technology
Electrical Engineering and Systems Science - Systems and Control
Computer Science - Robotics
020901 industrial engineering & automation
Control theory
FOS: Electrical engineering, electronic engineering, information engineering
FOS: Mathematics
0202 electrical engineering, electronic engineering, information engineering
Quadratic programming
Electrical and Electronic Engineering
Mathematics - Optimization and Control
Physics
Line-of-sight
020208 electrical & electronic engineering
Absolute continuity
Constraint (information theory)
Optimization and Control (math.OC)
Control and Systems Engineering
93C10, 90C20
Robotics (cs.RO)
Optimal decision
Subjects
Details
- ISSN :
- 00051098
- Volume :
- 128
- Database :
- OpenAIRE
- Journal :
- Automatica
- Accession number :
- edsair.doi.dedup.....38b9d7dac25250f3dcfdfd1ed2078cbf